Lane marker position sensor and alarm

• US 5,835,028 A
• Filed: 05/05/1997
• Issued: 11/10/1998
• Est. Priority Date: 05/05/1997
• Status: Expired due to Fees

• Current Assignee: Lee Bender, Wood J. Rodger
• Original Assignee: Lee Bender, Wood J. Rodger
• Inventors: Bender, Lee, Wood, J. Rodger
• Primary Examiner(s): Wu, Daniel J.
• Application Number:
  US08/851,367
• Time in Patent Office: 554 Days
• Field of Search: 340/436, 340/901, 340/903, 340/905, 340/937, 348/143, 348/148, 348/149, 348/118, 348/119, 348/135, 348/139, 348/169, 348/170, 701/301
• US Class Current: 340/937
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A lane marker position sensor and alarm system for determining painted road lane markers and signaling when a vehicle has moved beyond a predetermined threshold distance with respect to lane marker. The system comprises an image sensor, a processor and an alarm. The processor uses contrast identification of the lane markers in real time, maps the position of the lane marker and compares the current mapped position with the most recent image data. The system of the present invention provides a low-cost, real-time solution of lane marker identification that can be retrofitted onto any vehicle.

Claims

1. A method of detecting the position of a vehicle in a lane and signaling if the vehicle moves outside of the lane comprising the steps of:

a) sensing at least one image of the roadway in front of said vehicle;

b) inputting the sensed image into a processor for lane marker identification;

c) processing the image using a contrast algorithm;

d) selecting areas in the processed image that have a higher contrast value than surrounding areas corresponding to lane markers;

e) mapping the position of the selected areas and comparing the mapped position with mapped position of a previously processed image;

f) comparing said processed image with a plurality of pre-stored roadway scenario images if no high contrast values are found; and

g) signaling if the comparative mapped positions of selected areas are outside a predetermined value.

2. A method as claimed in claim 1, and further comprising the steps of converting said image into a digital image having a bit depth of at least 8 bits per pixel.

13. A system as claimed in claim 1, wherein said image data comprises real-time image data of the lane ahead of said vehicle.

3. A lane position detection system for a vehicle comprising:

at least one image sensor mounted on said vehicle for generating image data of a lane ahead of said vehicle;

a processor connected to said image sensor, said processor adapted to analyze said image data and identify a position of a lane marker with respect to said vehicle;

a program storage device coupled to said processor to store a lane marker identification and tracking algorithm and input said algorithm to said processor;

a preset parameter storage device coupled to said processor for storing a plurality of parameters for use by said algorithm;

a database connected to said processor, said database adapted to store a plurality of roadway image data for comparative use of said image data and said stored image data by said processor; and

an alarm connected to said processor, said alarm adapted to signal when the position of said vehicle moves beyond a predetermined distance with respect to said lane marker.

4. A system as claimed in claim 3, further comprising an analog-to-digital converter to convert said image generated by said image sensor to a digital image for processing.

5. A lane position detection system for a vehicle comprising:

at least one image sensor mounted on said vehicle for generating image data of a lane ahead of said vehicle;

a processor connected to said image sensor, said processor adapted to analyze said image data and identify a position of a lane marker with respect to said vehicle;

a database controlled by said processor to store a plurality of roadway scenarios, said roadway scenarios being compared to said image data; and

an alarm connected to said processor, said alarm adapted to signal when the position of said vehicle moves beyond a threshold distance with respect to said lane marker.

6. A system as claimed in claim 5, wherein said processor includes a mapping of said identified lane markers.

7. A system as claimed in claim 5, wherein said alarm comprises an audible alarm.

8. A system as claimed in claim 5, wherein said alarm comprises a visual alarm.

9. A system as claimed in claim 5, wherein said alarm comprises a vibratory alarm.

10. A system as claimed in claim 5, further comprising a turn signal detector coupled to said processor for signaling said processor when a turn signal is activated.

11. A system as claimed in claim 5, further comprising a steering wheel motion detection coupled to said processor for signaling said processor when a steering wheel has moved.

12. A system as claimed in claim 5, wherein said database further comprises driver input for inputting new roadway scenarios in said database.

14. A system as claimed in claim 5, wherein said image data is converted into digital image data, via an analog-to-digital converter, and processed by said processor using a gray scale transformation to transform said digital image into shades of gray, wherein said lane marker is identified as having the largest digital value in said image.

15. A system as claimed in claim 5, wherein said image sensor further comprises an analog-to-digital converter to convert said image to a digital image.

16. A system as claimed in claim 15, wherein said processor further comprises memory for storing said digital image.

17. A system as claimed in claim 5, wherein said processor further includes program storage to store a lane marker identification and tracking algorithm.

18. A system as claimed in claim 17, wherein said processor further comprises a preset parameter storage for storing a plurality of parameters for use by said algorithm.

19. A system as claimed in claim 17, wherein said lane marker identification and tracking algorithm comprises a gray scale transformation algorithm, wherein said image is processed by said processor to identify said lane marker and wherein said lane marker is identified as the brightest portion in said image;

and wherein said tracking algorithm comprises mapping the position of said lane marker in one image and identifying any relative movement of said lane marker in a subsequent image with respect to a direction perpendicular to said lane.